Abstract
The issue of multi-robot formation is address in this paper. Usually robots can only handle local information described by an adjacency graph. We define structure error of formation based on the graph theory and propose a local control strategy for individual robot based on NN control with robust term which can ensure robots converge to a unique formation. Furthermore we discuss the performance on two aspects; the first one is dynamic characteristics during formation process; the second one is obstacle avoidance during formation.
Original language | English |
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Title of host publication | Proceedings of the 2005 IEEE International Conference on Mechatronics, ICM '05 |
Pages | 352-357 |
Number of pages | 6 |
Volume | 2005 |
DOIs | |
Publication status | Published - 1 Dec 2005 |
Externally published | Yes |
Event | 2005 IEEE International Conference on Mechatronics, ICM '05 - Taipei, Taiwan Duration: 10 Jul 2005 → 12 Jul 2005 |
Conference
Conference | 2005 IEEE International Conference on Mechatronics, ICM '05 |
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Country/Territory | Taiwan |
City | Taipei |
Period | 10/07/05 → 12/07/05 |
Keywords
- Adaptive NN control
- Formation
- Multi-robot system
- Obstacle avoidance
ASJC Scopus subject areas
- General Engineering